debug 19

src/perception/pbox_node_dirve/src/pbox_node/src/AGPbox.cpp

@@ -84,8 +84,8 @@ void AGPbox::init_pbox_node()
         bindUdp();
     }
 
-    // 创建定时器（在串口/UDP打开之后）
-    timer_ = this->create_wall_timer(1ms, std::bind(&AGPbox::timer_callback, this));
+    // 创建定时器（在串口/UDP打开之后，使用10ms周期避免过快读取）
+    timer_ = this->create_wall_timer(10ms, std::bind(&AGPbox::timer_callback, this));
 }
 
 void AGPbox::timer_callback()

src/perception/pbox_node_dirve/src/pbox_node/src/protocol_asensing.cpp

@@ -158,6 +158,7 @@ bool ProtocolAsensing::registProtocol(const std::string &protocolFlag , int leng
 	protocolLengthMap.insert(std::pair<std::string, int>(protocolFlag, length));
 	protocolMap.insert(std::pair<std::string, ProtocolAsensing*>(protocolFlag, sub));
 	//TinyLog::info("regist protocol:%s length: %d\n" , protocolFlag.c_str() , length);
+	return true;
 }
 void ProtocolAsensing::toQuaternion(double* rpy , double* quaterArray)
 {